Method for estimating navigation data of a land vehicle using road geometry and orientation parameters

Abstract

The invention concerns a method for estimating navigation date of a land vehicle, comprising steps of: recciving inertial data (100) acquired by an inertial sensor, receiving geometry and orientation parameters of a travelled road, integrating (106) the data on the basis of the parameters in order to produce navigation data comprising a movement of the vehicle relative to the road measured in a direction (Zr, Yr), the vehicle only being able to move in the direction within a bounded interval without leaving the road, estimating (108) an error affecting the navigation data by sol ing equations assuming that a difference between the calculated movement and a reference movement constitutes an error in the movement of the vehicle parallel to the direction, the reference movement having a value less than or equal to the length of the interval, correcting (110) the produced navigation data from the estimated error.

1 . A method for estimating navigation data of a land vehicle, the method comprising:
 receiving inertial data acquired by an inertial sensor embedded in the land vehicle,   receiving parameters relating to a geometry and an orientation of a road travelled by the land vehicle,   integrating the inertial data on the basis of the parameters, such as to produce navigation data of the vehicle comprising at least one movement of the vehicle measured parallel to a direction perpendicular to a surface of the road,   estimating at least one error that affects the produced navigation data, by solving a system of equations making the assumption that the at least one movement of the vehicle constitutes an error of movement of the vehicle parallel to the vertical direction,   correcting the navigation data produced on the basis of the at least one error, such as to produce corrected navigation data.   
     
     
         2 . A method for estimating navigation data of a land vehicle, the method comprising:
 receiving inertial data acquired by an inertial sensor embedded in the land vehicle,   receiving parameters relating to a geometry and an orientation of a road travelled by the land vehicle, wherein the parameters comprise a width of the road measured along a transverse direction perpendicular to an average direction of circulation of a land vehicle on the road,   integrating the inertial data on the basis of the parameters, such as to produce navigation data of the vehicle comprising at least one movement of the vehicle with respect to the road measured parallel to the transverse direction,   computing a deviation between the at least one movement of the vehicle and an associated reference movement having a predetermined value less than or equal to the width of the road,   estimating at least one error that affects the produced navigation data, by solving a system of equations making the assumption that the deviation constitutes an error of movement of the vehicle parallel to the transverse direction,   correcting the navigation data produced on the basis of the at least one error, such as to produce corrected navigation data.   
     
     
         3 . The method as claimed in  claim 2 , wherein the reference movement associated with the transverse movement is of zero value. 
     
     
         4 . The method as claimed in  claim 1  or  claim 2 , wherein estimating the at least one error is implemented by a Kalman filter, and the at least one movement of the vehicle is used by the Kalman filter as an item of observation data. 
     
     
         5 . The method as claimed in  claim 1  or  claim 2 , comprising steps of
 receiving satellite radio navigation data, 
 image correlating implemented between the satellite radio navigation data and road data stored by a memory embedded in the vehicle, such as to produce the parameters relating to the geometry and orientation of the road. 
 
     
     
         6 . The method as claimed in  claim 5 , wherein, when satellite radio navigation data cannot be received, the correlating step is implemented between corrected navigation data resulting from a previous implementation of the correcting step, and the road data stored by the memory. 
     
     
         7 . A non-transitorv computer-readable medium comprising code instructions for causing a processor to perform the method as claimed in  claim 1  or  claim 2 . 
     
     
         8 . A device for estimating navigation data of a land vehicle, the device comprising:
 an interface for receiving inertial data acquired by at least one inertial sensor embedded in the land vehicle,   an interface for receiving parameters relating to a geometry and an orientation of a road travelled by the land vehicle,   at least one processor configured to:   integrate the inertial data on the basis of the parameters, such as to produce navigation data of the vehicle comprising at least one movement of the vehicle with respect to the road measured parallel to a vertical direction perpendicular to a surface of the road,   estimate at least one error that affects the produced navigation data, by solving a system of equations making the assumption that the at least one movement of the vehicle constitutes an error of movement of the vehicle parallel to the vertical direction,   correct the navigation data produced on the basis of the at least one error, such as to produce corrected navigation data.   
     
     
         9 . A device for estimating navigation data of a land vehicle, the device comprising:
 an interface for receiving inertial data acquired by at least one inertial sensor embedded in the land vehicle,   an interface for receiving parameters relating to a geometry and an orientation of a road travelled by the land vehicle, the parameters comprising a width of the road measured along a transverse direction perpendicular to an average direction of circulation of a land vehicle on the road,   at least one processor configured to:   integrate the inertial data on the basis of the parameters, such as to produce navigation data of the vehicle comprising at least one movement of the vehicle with respect to the road measured parallel to the transverse direction,   compute a deviation between the at least one movement of the vehicle and an associated reference movement having a predetermined value less than or equal to the width of the road,   estimate at least one error that affects the produced navigation data, by solving a system of equations making the assumption that the deviation constitutes an error of movement of the vehicle parallel to the transverse direction,   correct the navigation data produced on the basis of the at least one error, such as to produce corrected navigation data.   
     
     
         10 . A system intended to be embedded in a land vehicle, comprising:
 an inertial system comprising at least one inertial sensor,   a device as claimed in  claim 8  or  claim 9  arranged to receive inertial data generated by the inertial system by means of the inertial sensor.   
     
     
         11 . A system intended to be embedded in a land vehicle, comprising:
 a memory containing road data,   a receiver configured for acquiring satellite radio navigation data,   a correlating device configured for implementing a correlation between the satellite radio navigation data and the road data contained in the memory, such as to produce parameters relating to the geometry and orientation of a road,   a device as claimed in  claim 8  or  claim 9  arranged to receive the parameters produced by the correlating device.   
     
     
         12 . A land vehicle comprising a device as claimed in  claim 9 .